CN108616808B - Method and system for accurately positioning indoor personnel - Google Patents
Method and system for accurately positioning indoor personnel Download PDFInfo
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- CN108616808B CN108616808B CN201810303671.3A CN201810303671A CN108616808B CN 108616808 B CN108616808 B CN 108616808B CN 201810303671 A CN201810303671 A CN 201810303671A CN 108616808 B CN108616808 B CN 108616808B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
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Abstract
The invention discloses a method and a system for accurately positioning indoor personnel, wherein the method comprises the following steps: s10: receiving node information sent by each reference node in a monitoring area and recording time points when the node information is received; wherein the node information comprises identity information or location information of the reference node; s20: and calculating the position of the personnel end to be positioned according to the node information and the time point. The system comprises: a portable signal transmitter, a number of reference nodes, and a gateway. The invention collects data which can represent the movement condition of the person to be positioned in real time by arranging a plurality of reference nodes in the monitoring area, accurately positions the person to be positioned after processing the data, is favorable for realizing the real-time positioning of the person to be positioned in the movement state, has low hardware configuration required by the reference nodes, is favorable for saving the cost, and has the advantages of low energy consumption and high positioning precision.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a method and a system for accurately positioning indoor personnel.
Background
Along with the development of intelligent house technique, indoor location demand is bigger and bigger, and traditional positioning technology is mainly used outdoor spacious position like Global Positioning System (GPS), beidou system etc. and the positioning system who utilizes geostationary satellite to establish fixes a position, when being used for indoorly, because the signal that receives the building blocks, indoor receiving satellite signal is relatively poor, can't accomplish accurate positioning.
In the solutions, some persons are required to wear an electronic tag, and the electronic tag actively transmits a signal (such as radio) outwards to realize positioning, and the positioning mode needs to consume more energy and needs more hardware support; some utilize the wireless signal intensity to increase with the distance, the principle of the gradual decay, set up the wireless signal launcher in needing indoor positioning, obtain the wireless signal by the signal receiving arrangement on the moving target, regard wireless signal intensity obtained as the parameter and calculate the distance from wireless signal launcher through the attenuation formula of the signal intensity, and further realize positioning, but the measurement accuracy of the signal intensity is reduced gradually with the increase of the distance too, the interference term is more, the influence is greater; some positioning is performed in a time Difference of arrival (tdoa) mode, a person to be positioned needs to wear an unknown node, the unknown node transmits ultrasonic waves and radio signals to beacon nodes at the same time, the beacon nodes measure distances according to the time Difference of arrival of the two signals, each beacon node sends measured information to a base station, and the base station estimates the position of the unknown node. In the positioning system, the beacon node needs higher hardware configuration for realizing the distance measurement, the cost is high, and the energy consumption for transmitting two signals is also higher.
Patent document with publication number CN104994576A also proposes "an indoor personnel positioning system and method based on infrared human body sensor array", the system includes several detection nodes, a base station node and upper computer; the detection nodes are deployed at different indoor positions, and the base station node is connected with the upper computer through a serial port connecting line; the detection node is in wireless connection with the base station node and detects the person to be positioned through the infrared human body sensor array. Each infrared human body sensor array comprises 4 infrared human body sensors, each infrared human body sensor is responsible for detecting the range of 90 degrees, so that 360-degree omnibearing detection is realized, and each detection node transmits a detection result to a base station node through a ZigBee network to calculate the position of a person. The person to be positioned does not need to wear any label or signal source, and the complete passive positioning is accepted. The positioning accuracy is higher, because infrared human body sensor's detection radius is about 6 meters, uses the information that detects the node more than 3 to realize the positioning accuracy about 1 meter, and this positioning accuracy can realize the demand of indoor personnel location completely. But the method has higher precision only when the person to be positioned is in a static state, and can not ensure that the person to be positioned can be accurately positioned in real time when the person to be positioned is in a real-time moving state.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides an indoor personnel accurate positioning method and system which are low in energy consumption, low in cost, high in positioning accuracy and capable of positioning in real time according to the real-time moving state of a person to be positioned.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method for accurately positioning indoor personnel, comprising the following steps:
s10: receiving node information sent by each reference node in a monitoring area and recording time points when the node information is received; wherein the node information includes identity information or location information of each of the reference nodes;
s20: and calculating the position of the personnel end to be positioned according to the node information and the time point.
Further, the step S20 is followed by:
s30: detecting whether the node information is received again within a preset time period taking the time point when the node information is received last time as a starting time point, and if the node information is not received, checking whether a human body sensor in a monitoring area senses the existence of a person;
s40: and if the checking result is that the human body sensor in the monitoring area senses that a person exists, the position of the person end to be positioned obtained through the previous calculation is used as the current position of the person end to be positioned.
Further, the step S20 includes:
s21: acquiring the position of each reference node according to the node information;
s22: calculating and receiving time difference of the node information sent by each reference node according to the time point;
s23: and calculating the position of the personnel end to be positioned according to the position of each reference node and the time difference.
Further, the step S21 includes:
s211: identifying the node information, and if the node information is the identity information of each reference node, extracting the position information of each reference node according to a preset identity information and position information comparison table to obtain the position of each reference node; and if the node information is the position information of each reference node, acquiring the position of each reference node according to the position information of the reference nodes.
An indoor personnel pinpoint system, the system comprising:
a portable signal transmitter for broadcasting a wireless signal;
the system comprises a plurality of reference nodes, a gateway and a monitoring area, wherein the reference nodes are arranged in the monitoring area and used for receiving wireless signals sent by a portable signal transmitter and sending node information to the gateway, and the node information comprises identity information or position information of each reference node;
and the processing node is used for receiving the node information sent by each reference node in the monitoring area, recording the time point when the node information is received, and calculating the position of the personnel end to be positioned according to the node information and the time point.
Further, the system further comprises:
and the human body sensors are arranged in the monitoring area and used for sensing whether a person exists in the monitoring area.
Further, the processing node comprises:
the receiving module is used for receiving the node information sent by each reference node in the monitoring area;
the time recording module is used for recording the time point when the node information is received;
and the calculating module is used for calculating the position of the personnel end to be positioned according to the node information and the time point.
Further, the processing node further comprises:
the detection checking module is used for detecting whether the node information is received again within a preset time period taking the time point when the node information is received last time as the starting time point, and if the node information is not received, checking whether the human body sensor in the monitoring area senses the existence of a person; and if the checking result is that the human body sensor in the monitoring area senses that a person exists, the position of the person end to be positioned obtained through the previous calculation is used as the current position of the person end to be positioned.
Further, the calculation module includes:
the identification and acquisition unit is used for identifying the node information, and if the node information is the identity information of each reference node, extracting the position information of each reference node according to a preset identity information and position information comparison table to acquire the position of each reference node; if the node information is the position information of each reference node, acquiring the position of each reference node according to the position information of each reference node;
the storage unit is used for storing the identity information and the position information comparison table;
the time difference calculation unit is used for calculating and receiving the time difference of the node information sent by each reference node according to the time point;
and the personnel position calculating unit is used for calculating the position of the personnel end to be positioned according to the position of each reference node and the time difference.
Further, the portable signal transmitter comprises a shoe body and a passive wireless transmitter arranged in the shoe body.
After the technical scheme is adopted, the invention has the beneficial effects that: the invention is easy to realize, convenient to use and low in energy consumption;
the method comprises the steps that a plurality of reference nodes are arranged in a monitoring area, the reference nodes are set to be capable of sending node information to a relevant device after receiving a specific wireless signal, the relevant device is set to be responsible for collecting the arrival time point of the node information sent by each reference node and obtaining the position of each reference node according to the node information, and then a mathematical model is established by utilizing a plurality of time points and position relations, so that the position of a person to be positioned can be accurately calculated; in conclusion, the reference nodes arranged in the monitoring area do not need to process and analyze data excessively, so that higher configuration is not needed, the total energy consumption of the monitoring area is favorably reduced, and the cost for setting the reference nodes in the monitoring area is favorably saved; when a person to be positioned moves, reference nodes at different positions send node information after receiving wireless signals, related equipment receives the node information sent by the reference nodes, and a new position of the person to be positioned can be calculated according to the new node information and the time point;
setting and detecting whether the node information is received again within a preset time period taking the time point when the node information is received last time as a starting time point, and if the node information is not received, checking whether a human body sensor in a monitoring area senses the existence of a person; and if the checking result is that the human body sensor in the monitoring area senses that a person exists, the position of the person end to be positioned obtained through the previous calculation is used as the current position of the person end to be positioned. The method is beneficial to improving the intelligence and realizing the positioning of the personnel to be positioned in a static state;
the portable signal transmitter comprises a shoe body and a passive wireless transmitter arranged in the shoe body. The device is beneficial to liberating the hands of a person to be positioned, and the passive wireless transmitter in the shoe body is trampled along with the movement of the person to transmit signals by using the weight of the human body, so that the triggering of the reference node can be easily realized, and data can be sent to related equipment; in addition, the passive wireless transmitter can convert the trampled mechanical energy into electric energy, and is favorable for further reducing energy consumption.
Drawings
In order to more clearly illustrate embodiments of the present invention or prior art solutions, the drawings are as follows:
fig. 1 is a flowchart of an indoor personnel accurate positioning method provided in embodiment 1 of the present invention;
fig. 2 is a flowchart of an indoor personnel accurate positioning method provided in embodiment 2 of the present invention;
fig. 3 is a block diagram of an indoor accurate positioning system for personnel according to embodiment 4 of the present invention;
fig. 4 is a block diagram of a processing node in embodiment 4 of the present invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
The existing indoor personnel positioning technology is single in solving method, cannot solve real-time positioning of personnel dynamic conditions, cannot intelligently measure personnel positions when personnel are dynamically changed into static states, and is high in configuration requirement of relevant indoor equipment, so that cost is increased when energy consumption is increased, and later maintenance is difficult.
At present, along with the rapid development of the existing intelligent home technology, the existing indoor personnel positioning system cannot meet the requirement that the intelligent home product is linked along with the movement of personnel, and cannot further provide better home intelligent experience for users.
Such as: at night, personnel walk in the house, if can have one set of positioning system, can fix a position personnel's position in real time, provide the accurate data that light in each room of control according to personnel position, the pavement opened or closed along with the change of personnel position for control system, so, just can realize the rational utilization of the energy, reach energy-concerving and environment-protective and reinforcing user intelligence and experience's purpose.
Aiming at the technical problems, the invention provides an indoor personnel accurate positioning method and system capable of carrying out real-time positioning according to the real-time moving state of a person to be positioned, and the specific implementation scheme is as follows:
example 1
As shown in fig. 1, the present embodiment provides a method for accurately positioning an indoor person, the method includes the following steps:
s10: receiving node information sent by each reference node in a monitoring area and recording time points when the node information is received; wherein the node information comprises identity information or location information of the reference node;
specifically, in this step, each reference node in the monitoring area is set to send node information to the device after receiving a wireless signal with a specific frequency (the wireless signal can be transmitted by a person to be positioned), the device receives the node information, and the time point when the node information is received is recorded if the node information is successfully received, and the content of the node information sent by the reference node may be identity information of the reference node or a position set by the reference node in the monitoring area; it should be noted that, if the content of the node information sent by the reference node is set as its own identity information (e.g., ID), a comparison table of the identity information and the location parameter needs to be stored in the device in advance, so as to search for and obtain the location of the reference node corresponding to the identity information; if the reference node is set to directly send the position information of the reference node, the operation of storing a relevant comparison table by equipment can be omitted, and position parameters need to be stored for the reference node in advance after the position of the reference node is set for calling or setting to obtain self-positioning by adopting a GPS positioning technology; the information content of the two nodes is preferably set as the identity information of the reference node, the sending of the identity information is more convenient and more cost-saving than the sending of the position information, the sending of the position information requires the configuration that the reference node has a storage function or a position positioning and position information acquiring function, and if each reference node is provided with the configuration, the cost is increased.
S20: and calculating the position of the personnel end to be positioned according to the node information and the time point.
In this step, after the device receives the node information and records the time point when the node information is received, the position of the reference node is obtained by using the node information, the time difference is obtained by using the time point when the node information is received, a mathematical computation model is established according to the position and the time difference, and the distance difference of the person end to be positioned relative to each reference node is computed by using the time difference, so that the specific coordinates of the person end to be positioned in the space are obtained accurately, wherein when more reference nodes send node information, the computed position of the person to be positioned is more accurate.
In the embodiment, different reference nodes can timely send node information to the equipment along with the movement of the person to be positioned in the monitoring area, and the position of the person to be positioned is updated and calculated in sequence, so that the positioning of the person to be positioned in the moving state is realized;
specifically, the method is preferably executed by using the gateway, on one hand, most existing gateways have high data processing capacity, and on the other hand, the gateway can be connected with various terminals, so that the position of the end of the person to be positioned can be calculated and then broadcasted according to the requirements of customers, data sharing is facilitated, and the data utilization rate is improved.
In conclusion, the intelligent home product monitoring system can realize real-time positioning along with movement of personnel, can provide data support for intelligent linkage of the intelligent home product along with the movement of the personnel, has low energy consumption of the reference nodes arranged in the monitoring area, does not need excessive hardware configuration, and is favorable for controlling the setting cost of the reference nodes; it should be noted that, in order to more accurately obtain the position of the person to be positioned, the number and the spatial position of the reference nodes need to be reasonably arranged.
Example 2
As shown in fig. 2, the present embodiment is different from embodiment 1 in that the method provided by the present embodiment further includes, after step S20:
s30: detecting whether the node information is received again within a preset time period taking the time point when the node information is received last time as a starting time point, and if the node information is not received, checking whether a human body sensor in a monitoring area senses the existence of a person;
the step is set, the node information is not received again, whether a human body sensor in a monitoring area senses the existence of a person or not is checked, the situation that the position of the person cannot be acquired after the node-free information is sent can be avoided, the situation that the person does not exist is directly defaulted, the intelligence and the accuracy of the position of a gateway calculation and analysis person are further improved, and the situation that the person is changed into intelligent processing after being static by moving is guaranteed. In a conventional state, a person can stay at a certain position for a long time (such as sitting down or lying down for watching television) after walking in a room for a certain time, and at the moment, no reference node is triggered to send node information, and the position cannot be calculated by utilizing the node information and a time point, so that a gateway is required to be arranged to realize real-time positioning of the person in a static state;
considering that a person stays slightly in the moving process, namely the node information sent by the reference node cannot be received within a short period of time, and in order to avoid the situation that the gateway cannot check the human body sensor once receiving the node information, the gateway is set to check the human body sensor when the gateway does not receive the node information again within a preset time after receiving the node information for one time; the preset time duration can be customized according to the self requirements of the user, the design is favorable for improving the intelligence of gateway processing information, and the energy consumption is saved while the intelligent positioning is provided.
The human body inductor can be set to be in an induction state in real time according to needs, and can also be set to be started for induction when the gateway needs to check whether the human body inductor induces the existence of a person or not, and the human body inductor is timely closed after an induction result is obtained, so that the energy consumption is saved.
S40: and if the checking result is that the human body sensor in the monitoring area senses that a person exists, the position of the person end to be positioned obtained through the previous calculation is used as the current position of the person end to be positioned.
When the human body sensor senses that a person exists, the person in the default room is in a static state, namely stays at the position obtained last time. To sum up, this embodiment except can solving indoor personnel and be in the location under the mobile state, can also provide accurate positioning when indoor personnel become static state by the removal, can solve personnel dynamic and static real-time location, further provide more abundant accurate location data for the intelligent linkage of intelligent house product.
And when new node information is received, the position calculation of the person to be positioned according to the node information and the time point is carried out again.
Preferably, the step S20 includes:
s21: acquiring the position of each reference node according to the node information; the method for obtaining the reference node position according to the node information is determined according to circumstances, if the identification node information directly contains the reference node position, the gateway can be directly utilized, if the identification node information only contains the identity information, the identity information and the node position comparison table need to be called to obtain the reference node position, and then the reference node position can be utilized.
S22: calculating and receiving time difference of the node information sent by each reference node according to the time point; in this step, not the time point but the time difference is used, and the distance between the person to be positioned and each reference node is represented by the time rate at which the node information of each reference node is received by the gateway, for example, when the person to be positioned is closer to the reference node a and farther from the reference node B, the time point at which the gateway receives the node information of the reference node B is greater than the time point at which the node information of the reference node a is received.
S23: and calculating the position of the personnel end to be positioned according to the position of each reference node and the time difference. A mathematical model is established according to the position coordinates and the time difference of each reference node, the position of the person to be positioned can be estimated by using a correlation algorithm, and when the number of the reference nodes corresponding to the received node information exceeds 3, the position of the person to be positioned can be accurately calculated, so that the position setting of the reference nodes needs to have reasonable control and control rules according to the receiving distance.
Example 3
The difference between this embodiment and embodiment 2 is that, in the method provided in this embodiment, the step S21 includes:
s211: identifying the node information, and if the node information is the identity information of each reference node, extracting the position information of each reference node according to a preset identity information and position information comparison table to obtain the position of each reference node; and if the node information is the position information of each reference node, acquiring the position of each reference node according to the position information of the reference nodes.
Because the configuration of the reference nodes is different, and the difference of the node information content may exist, the gateway is required to be capable of identifying the node information content, processing data distinguished according to the content is provided, the data processing efficiency is improved, and the adaptability and the practicability of the gateway are improved.
Example 4
As shown in fig. 3 and 4, the present invention further provides an indoor personnel accurate positioning system, which is used for providing physical support for the method described in the above embodiments 1-3, and the system includes:
a portable signal transmitter 100 for broadcasting a transmission wireless signal; specifically, the reference node 200 may receive the radio signal by transmitting a fixed frequency radio signal;
the system comprises a plurality of reference nodes 200, a plurality of processing nodes 300 and a plurality of monitoring nodes, wherein the reference nodes 200 are arranged in a monitoring area, and the space needing personnel positioning is collectively called the monitoring area, the reference nodes 200 are used for receiving wireless signals sent by a portable signal transmitter 100 and sending node information to the processing nodes 300, and the node information comprises identity information or position information of the reference nodes 200; the mode of sending the node information from the reference node 200 to the processing node 300 may be transmitted through WiFi communication or ZigBee communication protocol, where ZigBee is a low power consumption protocol based on the ieee802.15.4 standard. According to the international standard, the short-distance wireless.
And the processing node 300 is configured to receive the node information sent by each reference node 200 in the monitoring area, record a time point when the node information is received, and calculate a position of a person end to be positioned according to the node information and the time point.
The system further comprises:
and the human body sensors 400 are arranged in the monitoring area and used for sensing whether a person exists in the monitoring area. Human body sensor 400 can select human body infrared sensor, and the human body all has invariable body temperature, generally at 36-37 degrees, so can send the infrared ray of specific wavelength, if there is personnel to be present in the monitoring area and will be sensed, human body sensor 400 is configured to open when processing node 300 has the demand of looking over, closes after reacing the response result. The arrangement of the human body sensors 400 is beneficial to providing support for positioning the person in a static state. The human body sensors 400 are generally disposed at four corners of a room to realize 360-degree omni-directional sensing.
This system can be used for the light (corridor lamp, bedroom lamp, sitting room lamp etc.) according to personnel positioning control room, personnel have real-time location data when being in the mobile state promptly, the lamp of which position just can be controlled according to real-time location data is bright, the lamp of which position is closed, in addition, when personnel are in quiescent condition, human sensor 400 can controlled operation, the control of light can respond to the condition whether personnel exist in the room according to human sensor 400, close or keep light to light always, thereby realize that the house intelligence is experienced and energy-concerving and environment-protective.
Preferably, the processing node 300 comprises:
a receiving module 310, configured to receive the node information sent by each reference node 200 in the monitoring area;
the time recording module 320 is configured to record a time point when the node information is received after the node information is received;
and the calculating module 330 is configured to calculate a position of the person end to be positioned according to the node information and the time point.
Further, the processing node 300 further comprises:
the detection checking module 340 is configured to detect whether the node information is received again within a preset time period when the time point when the node information is received last time is the start time point, and if the node information is not received, check whether a human body sensor in the monitoring area senses that a person exists. The condition that the human body sensor is frequently checked is avoided, and energy consumption is reduced.
If the checking result of the detecting and checking module 340 is that the human body sensor in the monitoring area senses the existence of a person, the position of the person end to be positioned, which is obtained by the calculation of the calculating module 330 in the previous time, is used as the current position of the person end to be positioned. The positioning device is beneficial to positioning indoor personnel in a moving state and providing accurate positioning when the indoor personnel change from a moving state to a static state.
The calculation module 330 includes:
an identifying and acquiring unit 331, configured to identify the node information, and if the node information is identity information of each reference node, extract location information of each reference node according to a preset identity information and location information comparison table to acquire a location of each reference node; if the node information is the position information of each reference node, acquiring the position of each reference node according to the position information of each reference node;
a storage unit 332, configured to store the identity information and the location information comparison table; after the installation position of the reference node 200 is set, the installer stores the identity information and the position information of the reference node 200 in the comparison table.
A time difference calculating unit 333, configured to calculate, according to the time point recorded by the time recording module 320, a time difference for receiving the node information sent by each reference node;
and the personnel position calculating unit 334 is configured to calculate the position of the personnel end to be positioned according to the position of each reference node and the time difference.
The portable signal transmitter 100 includes a shoe body and a passive wireless transmitter disposed in the shoe body. The passive wireless transmitter adopts a passive wireless switching technology, can be automatically converted into electric energy to send a wireless signal by only pressing mechanical energy generated by a key without arranging a battery or connecting a power line when in use, and is arranged to send the wireless signal to the reference node 200, thereby being beneficial to saving energy consumption; set up passive wireless transmitter in the shoes is internal (like the sole), be favorable to liberating user of service personnel's both hands, directly utilize to remove the action of trampling that can produce, control passive wireless transmitter and carry out the signalling along with personnel's removal, it is more convenient to use, more is close the actual conditions that personnel removed.
The intelligent household monitoring system is simple in structure and convenient to operate on the whole, static and dynamic real-time positioning of indoor personnel is carried out by arranging the reference nodes 200 and the human body sensors 400 in the area to be monitored, data support is provided for intelligent linkage of intelligent household products along with movement of the personnel, and intelligent development of equipment and energy-saving, environment-friendly and sustainable development are realized.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. A method for accurately positioning indoor personnel is characterized by comprising the following steps:
s10: receiving node information sent by each reference node in a monitoring area and recording time points when the node information is received; wherein the node information includes identity information or location information of each of the reference nodes;
s20: calculating the position of the personnel end to be positioned according to the node information and the time point;
s30: detecting whether the node information is received again within a preset time period taking the time point when the node information is received last time as a starting time point, and if the node information is not received, checking whether a human body sensor in a monitoring area senses the existence of a person;
s40: if the checking result is that the human body sensor in the monitoring area senses that a person exists, the position of the person end to be positioned obtained through the previous calculation is used as the current position of the person end to be positioned;
the step S20 includes:
s21: acquiring the position of each reference node according to the node information;
s22: calculating and receiving time difference of the node information sent by each reference node according to the time point;
s23: and calculating the position of the personnel end to be positioned according to the position of each reference node and the time difference.
2. The method for accurately positioning indoor personnel as claimed in claim 1, wherein said step S21 includes:
s211: identifying the node information, and if the node information is the identity information of each reference node, extracting the position information of each reference node according to a preset identity information and position information comparison table to obtain the position of each reference node; and if the node information is the position information of each reference node, acquiring the position of each reference node according to the position information of the reference nodes.
3. An indoor personnel accurate positioning system, characterized in that, the system includes:
a portable signal transmitter for broadcasting a wireless signal;
the system comprises a plurality of reference nodes, a gateway and a monitoring area, wherein the reference nodes are arranged in the monitoring area and used for receiving wireless signals sent by a portable signal transmitter and sending node information to the gateway, and the node information comprises identity information or position information of each reference node;
the processing node is used for receiving the node information sent by each reference node in the monitoring area, recording the time point when the node information is received, and calculating the position of the personnel end to be positioned according to the node information and the time point;
the human body sensors are arranged in the monitoring area and used for sensing whether a person exists in the monitoring area;
the processing node comprises:
the receiving module is used for receiving the node information sent by each reference node in the monitoring area;
the time recording module is used for recording the time point when the node information is received;
and the calculating module is used for calculating the position of the personnel end to be positioned according to the node information and the time point.
4. The indoor personnel accurate positioning system of claim 3, wherein said processing node further comprises:
the detection checking module is used for detecting whether the node information is received again within a preset time period taking the time point when the node information is received last time as the starting time point, and if the node information is not received, checking whether the human body sensor in the monitoring area senses the existence of a person; and if the checking result is that the human body sensor in the monitoring area senses that a person exists, the position of the person end to be positioned obtained through the previous calculation is used as the current position of the person end to be positioned.
5. The indoor personnel accurate positioning system of claim 3, characterized in that the computing module comprises:
the identification and acquisition unit is used for identifying the node information, and if the node information is the identity information of each reference node, extracting the position information of each reference node according to a preset identity information and position information comparison table to acquire the position of each reference node; if the node information is the position information of each reference node, acquiring the position of each reference node according to the position information of each reference node;
the storage unit is used for storing the identity information and the position information comparison table;
the time difference calculation unit is used for calculating and receiving the time difference of the node information sent by each reference node according to the time point;
and the personnel position calculating unit is used for calculating the position of the personnel end to be positioned according to the position of each reference node and the time difference.
6. The indoor personnel accurate positioning system of claim 3, characterized in that the portable signal transmitter comprises a shoe body and a passive wireless transmitter arranged in the shoe body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| JP2016181896A (en) * | 2015-03-11 | 2016-10-13 | チュンウェ インフォメーション テクノロジー カンパニー，リミテッド | Realtime position-based event generation system and terminal control method using the same |
| CN107566980A (en) * | 2017-10-27 | 2018-01-09 | 努比亚技术有限公司 | The localization method and mobile terminal of a kind of mobile terminal |
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| CN103068038A (en) * | 2012-12-14 | 2013-04-24 | 南昌大学 | Indoor bidirectional positioning method based on Zigbee network |
| JP2016181896A (en) * | 2015-03-11 | 2016-10-13 | チュンウェ インフォメーション テクノロジー カンパニー，リミテッド | Realtime position-based event generation system and terminal control method using the same |
| CN104994576A (en) * | 2015-05-15 | 2015-10-21 | 东北大学 | Indoor personnel positioning system and method based on infrared human body sensor array |
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